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system_interface.hpp
1// Copyright 2020 - 2021 ros2_control Development Team
2//
3// Licensed under the Apache License, Version 2.0 (the "License");
4// you may not use this file except in compliance with the License.
5// You may obtain a copy of the License at
6//
7// http://www.apache.org/licenses/LICENSE-2.0
8//
9// Unless required by applicable law or agreed to in writing, software
10// distributed under the License is distributed on an "AS IS" BASIS,
11// WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
12// See the License for the specific language governing permissions and
13// limitations under the License.
14
15#ifndef HARDWARE_INTERFACE__SYSTEM_INTERFACE_HPP_
16#define HARDWARE_INTERFACE__SYSTEM_INTERFACE_HPP_
17
18#include <memory>
19#include <string>
20#include <vector>
21
22#include "hardware_interface/handle.hpp"
23#include "hardware_interface/hardware_info.hpp"
24#include "hardware_interface/types/hardware_interface_return_values.hpp"
25#include "hardware_interface/types/lifecycle_state_names.hpp"
26#include "lifecycle_msgs/msg/state.hpp"
27#include "rclcpp/duration.hpp"
28#include "rclcpp/time.hpp"
29#include "rclcpp_lifecycle/node_interfaces/lifecycle_node_interface.hpp"
30#include "rclcpp_lifecycle/state.hpp"
31
32namespace hardware_interface
33{
34
35using CallbackReturn = rclcpp_lifecycle::node_interfaces::LifecycleNodeInterface::CallbackReturn;
36
84class SystemInterface : public rclcpp_lifecycle::node_interfaces::LifecycleNodeInterface
85{
86public:
88 : lifecycle_state_(
89 rclcpp_lifecycle::State(
90 lifecycle_msgs::msg::State::PRIMARY_STATE_UNKNOWN, lifecycle_state_names::UNKNOWN))
91 {
92 }
93
95
99 SystemInterface(const SystemInterface & other) = delete;
100
101 SystemInterface(SystemInterface && other) = default;
102
103 virtual ~SystemInterface() = default;
104
106
111 virtual CallbackReturn on_init(const HardwareInfo & hardware_info)
112 {
113 info_ = hardware_info;
114 return CallbackReturn::SUCCESS;
115 };
116
118
126 virtual std::vector<StateInterface> export_state_interfaces() = 0;
127
129
137 virtual std::vector<CommandInterface> export_command_interfaces() = 0;
138
140
152 virtual return_type prepare_command_mode_switch(
153 const std::vector<std::string> & /*start_interfaces*/,
154 const std::vector<std::string> & /*stop_interfaces*/)
155 {
156 return return_type::OK;
157 }
158
159 // Perform switching to the new command interface.
171 virtual return_type perform_command_mode_switch(
172 const std::vector<std::string> & /*start_interfaces*/,
173 const std::vector<std::string> & /*stop_interfaces*/)
174 {
175 return return_type::OK;
176 }
177
179
188 virtual return_type read(const rclcpp::Time & time, const rclcpp::Duration & period) = 0;
189
191
199 virtual return_type write(const rclcpp::Time & time, const rclcpp::Duration & period) = 0;
200
202
205 virtual std::string get_name() const { return info_.name; }
206
208
211 const rclcpp_lifecycle::State & get_state() const { return lifecycle_state_; }
212
214
217 void set_state(const rclcpp_lifecycle::State & new_state) { lifecycle_state_ = new_state; }
218
219protected:
220 HardwareInfo info_;
221 rclcpp_lifecycle::State lifecycle_state_;
222};
223
224} // namespace hardware_interface
225#endif // HARDWARE_INTERFACE__SYSTEM_INTERFACE_HPP_
Virtual Class to implement when integrating a complex system into ros2_control.
Definition system_interface.hpp:85
virtual return_type perform_command_mode_switch(const std::vector< std::string > &, const std::vector< std::string > &)
Definition system_interface.hpp:171
void set_state(const rclcpp_lifecycle::State &new_state)
Set life-cycle state of the actuator hardware.
Definition system_interface.hpp:217
virtual std::string get_name() const
Get name of the actuator hardware.
Definition system_interface.hpp:205
virtual CallbackReturn on_init(const HardwareInfo &hardware_info)
Initialization of the hardware interface from data parsed from the robot's URDF.
Definition system_interface.hpp:111
const rclcpp_lifecycle::State & get_state() const
Get life-cycle state of the actuator hardware.
Definition system_interface.hpp:211
virtual return_type prepare_command_mode_switch(const std::vector< std::string > &, const std::vector< std::string > &)
Prepare for a new command interface switch.
Definition system_interface.hpp:152
virtual std::vector< CommandInterface > export_command_interfaces()=0
Exports all command interfaces for this hardware interface.
virtual std::vector< StateInterface > export_state_interfaces()=0
Exports all state interfaces for this hardware interface.
virtual return_type read(const rclcpp::Time &time, const rclcpp::Duration &period)=0
Read the current state values from the actuator.
SystemInterface(const SystemInterface &other)=delete
SystemInterface copy constructor is actively deleted.
virtual return_type write(const rclcpp::Time &time, const rclcpp::Duration &period)=0
Write the current command values to the actuator.
Definition actuator.hpp:31
This structure stores information about hardware defined in a robot's URDF.
Definition hardware_info.hpp:106
std::string name
Name of the hardware.
Definition hardware_info.hpp:108